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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp | 263 |
1 files changed, 0 insertions, 263 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp deleted file mode 100644 index 8207b47135..0000000000 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp +++ /dev/null @@ -1,263 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#include "btDiscreteDynamicsWorldMt.h" - -//collision detection -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" -#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" -#include "BulletCollision/CollisionShapes/btCollisionShape.h" -#include "btSimulationIslandManagerMt.h" -#include "LinearMath/btTransformUtil.h" -#include "LinearMath/btQuickprof.h" - -//rigidbody & constraints -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" -#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" -#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" -#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h" -#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" -#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" -#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" -#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h" -#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" -#include "BulletDynamics/ConstraintSolver/btContactConstraint.h" - -#include "LinearMath/btIDebugDraw.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" - -#include "BulletDynamics/Dynamics/btActionInterface.h" -#include "LinearMath/btQuickprof.h" -#include "LinearMath/btMotionState.h" - -#include "LinearMath/btSerializer.h" - -/// -/// btConstraintSolverPoolMt -/// - -btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver() -{ - int i = 0; -#if BT_THREADSAFE - i = btGetCurrentThreadIndex() % m_solvers.size(); -#endif // #if BT_THREADSAFE - while (true) - { - ThreadSolver& solver = m_solvers[i]; - if (solver.mutex.tryLock()) - { - return &solver; - } - // failed, try the next one - i = (i + 1) % m_solvers.size(); - } - return NULL; -} - -void btConstraintSolverPoolMt::init(btConstraintSolver** solvers, int numSolvers) -{ - m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER; - m_solvers.resize(numSolvers); - for (int i = 0; i < numSolvers; ++i) - { - m_solvers[i].solver = solvers[i]; - } - if (numSolvers > 0) - { - m_solverType = solvers[0]->getSolverType(); - } -} - -// create the solvers for me -btConstraintSolverPoolMt::btConstraintSolverPoolMt(int numSolvers) -{ - btAlignedObjectArray<btConstraintSolver*> solvers; - solvers.reserve(numSolvers); - for (int i = 0; i < numSolvers; ++i) - { - btConstraintSolver* solver = new btSequentialImpulseConstraintSolver(); - solvers.push_back(solver); - } - init(&solvers[0], numSolvers); -} - -// pass in fully constructed solvers (destructor will delete them) -btConstraintSolverPoolMt::btConstraintSolverPoolMt(btConstraintSolver** solvers, int numSolvers) -{ - init(solvers, numSolvers); -} - -btConstraintSolverPoolMt::~btConstraintSolverPoolMt() -{ - // delete all solvers - for (int i = 0; i < m_solvers.size(); ++i) - { - ThreadSolver& solver = m_solvers[i]; - delete solver.solver; - solver.solver = NULL; - } -} - -///solve a group of constraints -btScalar btConstraintSolverPoolMt::solveGroup(btCollisionObject** bodies, - int numBodies, - btPersistentManifold** manifolds, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - const btContactSolverInfo& info, - btIDebugDraw* debugDrawer, - btDispatcher* dispatcher) -{ - ThreadSolver* ts = getAndLockThreadSolver(); - ts->solver->solveGroup(bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher); - ts->mutex.unlock(); - return 0.0f; -} - -void btConstraintSolverPoolMt::reset() -{ - for (int i = 0; i < m_solvers.size(); ++i) - { - ThreadSolver& solver = m_solvers[i]; - solver.mutex.lock(); - solver.solver->reset(); - solver.mutex.unlock(); - } -} - -/// -/// btDiscreteDynamicsWorldMt -/// - -btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, - btBroadphaseInterface* pairCache, - btConstraintSolverPoolMt* solverPool, - btConstraintSolver* constraintSolverMt, - btCollisionConfiguration* collisionConfiguration) - : btDiscreteDynamicsWorld(dispatcher, pairCache, solverPool, collisionConfiguration) -{ - if (m_ownsIslandManager) - { - m_islandManager->~btSimulationIslandManager(); - btAlignedFree(m_islandManager); - } - { - void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt), 16); - btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt(); - im->setMinimumSolverBatchSize(m_solverInfo.m_minimumSolverBatchSize); - m_islandManager = im; - } - m_constraintSolverMt = constraintSolverMt; -} - -btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt() -{ -} - -void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo) -{ - BT_PROFILE("solveConstraints"); - - m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); - - /// solve all the constraints for this island - btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager); - btSimulationIslandManagerMt::SolverParams solverParams; - solverParams.m_solverPool = m_constraintSolver; - solverParams.m_solverMt = m_constraintSolverMt; - solverParams.m_solverInfo = &solverInfo; - solverParams.m_debugDrawer = m_debugDrawer; - solverParams.m_dispatcher = getCollisionWorld()->getDispatcher(); - im->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams); - - m_constraintSolver->allSolved(solverInfo, m_debugDrawer); -} - -struct UpdaterUnconstrainedMotion : public btIParallelForBody -{ - btScalar timeStep; - btRigidBody** rigidBodies; - - void forLoop(int iBegin, int iEnd) const BT_OVERRIDE - { - for (int i = iBegin; i < iEnd; ++i) - { - btRigidBody* body = rigidBodies[i]; - if (!body->isStaticOrKinematicObject()) - { - //don't integrate/update velocities here, it happens in the constraint solver - body->applyDamping(timeStep); - body->predictIntegratedTransform(timeStep, body->getInterpolationWorldTransform()); - } - } - } -}; - -void btDiscreteDynamicsWorldMt::predictUnconstraintMotion(btScalar timeStep) -{ - BT_PROFILE("predictUnconstraintMotion"); - if (m_nonStaticRigidBodies.size() > 0) - { - UpdaterUnconstrainedMotion update; - update.timeStep = timeStep; - update.rigidBodies = &m_nonStaticRigidBodies[0]; - int grainSize = 50; // num of iterations per task for task scheduler - btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update); - } -} - -void btDiscreteDynamicsWorldMt::createPredictiveContacts(btScalar timeStep) -{ - BT_PROFILE("createPredictiveContacts"); - releasePredictiveContacts(); - if (m_nonStaticRigidBodies.size() > 0) - { - UpdaterCreatePredictiveContacts update; - update.world = this; - update.timeStep = timeStep; - update.rigidBodies = &m_nonStaticRigidBodies[0]; - int grainSize = 50; // num of iterations per task for task scheduler - btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update); - } -} - -void btDiscreteDynamicsWorldMt::integrateTransforms(btScalar timeStep) -{ - BT_PROFILE("integrateTransforms"); - if (m_nonStaticRigidBodies.size() > 0) - { - UpdaterIntegrateTransforms update; - update.world = this; - update.timeStep = timeStep; - update.rigidBodies = &m_nonStaticRigidBodies[0]; - int grainSize = 50; // num of iterations per task for task scheduler - btParallelFor(0, m_nonStaticRigidBodies.size(), grainSize, update); - } -} - -int btDiscreteDynamicsWorldMt::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) -{ - int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep); - if (btITaskScheduler* scheduler = btGetTaskScheduler()) - { - // tell Bullet's threads to sleep, so other threads can run - scheduler->sleepWorkerThreadsHint(); - } - return numSubSteps; -} |